EP2549098B2 - Method for operating a wind turbine and wind turbine - Google Patents
Method for operating a wind turbine and wind turbine Download PDFInfo
- Publication number
- EP2549098B2 EP2549098B2 EP12176256.1A EP12176256A EP2549098B2 EP 2549098 B2 EP2549098 B2 EP 2549098B2 EP 12176256 A EP12176256 A EP 12176256A EP 2549098 B2 EP2549098 B2 EP 2549098B2
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- Prior art keywords
- azimuth
- wind
- special
- control
- wind energy
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- 238000009434 installation Methods 0.000 claims description 31
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- 238000013459 approach Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
- F03D7/0208—Orientating out of wind
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
- F03D7/0268—Parking or storm protection
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2230/00—Manufacture
- F05B2230/80—Repairing, retrofitting or upgrading methods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw angle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Definitions
- the invention relates to a method for operating a wind energy installation with a tower and a machine nacelle with a rotor arranged rotatably on the tower, as well as a corresponding wind energy installation and a computer program product.
- Known wind turbines have a tower on the top of which a machine gondola is rotatably arranged. This houses a generator and, if necessary, a gearbox, which are connected to a rotor that rotates about a rotor axis. In regular operation, the nacelle is rotated with the rotor around the tower axis in order to track the changing wind direction. Controlling this rotation about the turret axis is called azimuth control.
- An example of a corresponding azimuth control is on off WO 2010/128940 A1 known method for controlling a wind turbine in a rest position in which the nacelle is rotated out of the wind, wherein it is rotated through an angle of more than 120 °, preferably 180 ° from an operating position.
- This home position is actively maintained by an azimuth drive. This is intended to reduce loads on a wind turbine in a shut-down mode and avoid damage to important components.
- U.S. 2009/0081041 A1 discloses a method for controlling a wind turbine with a nacelle on a tower and a rotor.
- a wind turbine with a nacelle on a tower and a rotor.
- it is proposed to monitor the function of the blade angle adjustment and, if a fault occurs, to rotate the nacelle from an operating position to a rest position in which the wind load is reduced compared to the operating position.
- Azimuth control is limited, among other things, by the cable twisting of those cables that lead from the nacelle to the tower and connect the electrical components in the nacelle to components on the ground, such as power cables. If the nacelle has rotated several times around the tower axis, these cables are twisted to such an extent that further twisting of the nacelle around the tower axis in the same direction would damage the cables and their connections. Therefore, in this case, usually after a rotation of the machine nacelle by 720°, i.e. a double complete rotation, automatic untwisting is initiated, ie the machine nacelle is rotated back again in order to eliminate the twisting or twisting of the cables.
- This object is achieved by a method for operating a wind turbine with a tower and a machine pod that is rotatably arranged on the tower and has a rotor, which is further developed in that the machine pod is converted into an, in particular predetermined or predeterminable special azimuth position when an entry condition defined in the special azimuth control is met, with several different special azimuth controls having different entry conditions and/or exit conditions being implemented, each with the same special azimuth position or with different ones Special azimuth positions are connected, different priorities being assigned to different special azimuth controls in the azimuth control, with the fulfillment of a plurality of entry conditions and/or exit conditions that special azimuth control having the highest priority being executed.
- the azimuth control and the special azimuth control can be designed, for example, as a computer program in a control unit of the wind turbine designed as a data processing system and the computer, or as hard-wired electronics in which the control and the special control are implemented by a predetermined selected wiring.
- the invention is based on the basic idea that special situations can be treated more safely and efficiently if the azimuth control does not carry out a usual wind tracking with an alignment of the rotor to the current wind direction, but moves the machine nacelle largely automatically into a special azimuth position. In particular, this can also mean that the machine gondola remains in a special azimuth position that has already been assumed.
- a special azimuth position can therefore be predetermined or predeterminable or can only be determined in the course of a special azimuth control.
- a predetermined special azimuth position can also be changed in the course or as part of a special azimuth control, ie the target position to be approached can also be changed.
- a corresponding special azimuth position is preferably an angular position that is independent of the wind direction, or an angular sector that is independent of the wind direction, or a predetermined or predeterminable angle difference to the wind direction.
- An angular position that is independent of the wind direction can be selected, for example, as a service position when the rotor is stopped, for example due to local conditions.
- An angular sector that ranges from a minimum angle to a maximum angle on the compass rose and in which any angle within the angular sector can be taken as a special position is selected in cases where, for example, certain angles or angular sectors are not to be approached. In this case, if the nacelle is already in the special angle sector when an entry condition occurs, it can remain there without being moved any further. This is included within the scope of the present invention under the concept of moving to the special azimuth position.
- a predetermined or predeterminable difference angle to the wind direction can be used, for example, to reduce the load in strong winds, in order to switch off the wind power plant later, so that the energy yield and efficiency of the wind power plant is increased.
- the special azimuth control is ended when the entry condition for the special azimuth control is no longer met and/or an exit condition for the special azimuth control is met.
- an exit condition may be an external command to exit azimuth special control. It can be selected whether the azimuth special control is only exited when the entry condition is also no longer present, or whether the exit command is also executed when the entry condition is still present. Even without an exit condition, for example, the special azimuth control can be ended if the entry condition is no longer met.
- the invention provides that several different special azimuth controls are implemented, each with different entry conditions and/or exit conditions, which are each associated with the same special azimuth position or with different special azimuth positions.
- the corresponding special azimuth position can be selected individually for each special azimuth control, it also being possible for several or all special azimuth controls to be connected to the same special azimuth position.
- the entry condition or conditions for one or more special azimuth controls are preferably a point in time, a time delay, a service request, a helicopter approach, the occurrence of a shadow cast or reflection situation that is to be avoided, existing or expected rotor icing, exceeding a first limit wind speed , a first limit wave height in offshore wind turbines, a first limit tower oscillation amplitude, a first animal collision probability and/or a wind tracking condition when the rotor is locked or in strong winds.
- These entry conditions define various special situations that can lead to an azimuth special control and which can be used individually as an entry condition or in a linked manner.
- a point in time is used as an entry condition, a waiting time when carrying out a service can be avoided, for example, since the nacelle is already in the desired azimuth position when the service work begins. This is also of particular interest for large systems with a few megawatts of rated output, since the wind tracking speed in these wind turbines is usually in the range of 0.3 to 0.5% and five to fifteen minutes can therefore elapse before a desired gondola position is reached.
- a start time is preferably used or specified as the time.
- the wind energy installation starts moving the nacelle at the specified point in time to set the special azimuth position.
- a target time is used or specified as the time.
- the special azimuth control automatically calculates the time required to set the desired special azimuth position and initiates the movement process in such a way that the desired special azimuth position is or is reached at the target time.
- a service request is preferably also associated with a time delay and/or target time specification, so that in the event of a service request, the special azimuth control is carried out at the latest possible time, so that the service team finds the wind turbine in the specially controlled special position when it arrives, for example 15 minutes later .
- the wind turbine can be moved into a special position, for example to enable terrain-dependent entry lanes.
- Other entry conditions that depend on the terrain are, for example, the occurrence of shadows or reflections that are to be avoided, which occur in particular at a certain position of the sun and are to be avoided in relation to existing residential buildings or traffic roads and may be specified in a condition of a building permit.
- Entry conditions that are particularly relevant to safety and efficiency are exceeding a first limit wind speed, a first limit wave height in offshore wind turbines, a first limit tower vibration amplitude or a first animal collision probability. If the first limit wind speed or the first limit wave height is exceeded, wind tracking with an offset angle or difference angle can be set as a special azimuth position, for example, in order to reduce the load on the wind turbine without having to shut down the wind turbine.
- the wave height in offshore wind turbines and the tower vibration amplitude are also relevant to the load and therefore to safety and efficiency. All of these limits are facility and/or site specific selectable and associated azimuth SACs are given high priority where appropriate.
- the subject of a condition of a building permit can also be animal or species protection, which exists with regard to endangered flying animals, such as bats or endangered birds.
- endangered flying animals such as bats or endangered birds.
- the wind turbine can also be moved in its azimuth angle in a special position in order to reduce the probability of collision.
- the special azimuth controls associated with these operating conditions can be assigned a medium priority, for example.
- one service operation for which a special azimuth control according to the invention is particularly useful is the use of a maintenance platform for a rotor blade which requires the maintenance platform to be set up at a specific location.
- Changing the transmission oil with a hose connection or catching up a tool or components, especially offshore, can also require the machine nacelle to be moved to a special azimuth position.
- Such operating states may be associated with low priorities for the corresponding special azimuth controls.
- the exit condition or conditions of one or more special azimuth controls is or are preferably a point in time, a time delay, the completion of a service process, a helicopter take-off, the end of a shadow cast or reflection situation to be avoided, existing or expected rotor icing, falling below a second limit wind speed, a second limit wave height for offshore wind turbines, a second limit tower vibration amplitude, a second animal collision probability and/or a wind tracking condition when the rotor is locked or in strong winds.
- the second limit speeds, limit wave heights, limit tower oscillation amplitudes and animal collision probabilities are in particular below the respective first corresponding limit values, but they can also assume the same value as the corresponding first limit values. These limit values can also be selected on a plant and/or site-specific basis.
- the nacelle is moved in the special azimuth control in the direction of a cable untwisting and/or on the shortest route to the special azimuth position. If the nacelle is moved in the direction of a cable untwist, it is avoided in any case that the automatic cable untwist is activated during the execution of an azimuth special control if the limit value for the cable twist is exceeded.
- a shortest path movement reduces the waiting time.
- the direction of the shortest path can also be the direction of cable untwisting.
- the gondola can be moved to the special azimuth position using the shortest possible route, as long as the maximum permissible cable twisting angle is not exceeded.
- medium or low priority for example, cable untwisting has priority as long as there are no unreasonable waiting times, whereby the reasonable waiting time with low priority may be longer than with medium priority.
- a cable untwisting travel angle limit value is preferably defined for each special azimuth control. This is defined in such a way that if the movement angle for the respective special azimuth position in the direction of a cable untwisting exceeds the corresponding cable untwisting travel angle limit value, the gondola is moved in the opposite direction in order not to generate excessive waiting time.
- preferred cable untwisting travel angle limit values for azimuth special controls with low priority are to be selected depending on the system in the range from 240° to 340°, in particular from 270° to 310°, for medium priority from 190° to 270°, in particular from 215° to 245°.
- a signal is given when the special azimuth position has been reached, in particular by means of an obstruction light, a signal light, acoustically or by means of a message to remote monitoring.
- the special azimuth control for a plurality of wind turbines in a wind farm is activated by means of a wind farm controller.
- These can be safety-relevant entry conditions such as exceeding a limit value for a safety-relevant parameter. This can also be, for example, the detection of an increased risk of animal collision or corresponding other parameters that do not necessarily relate to an individual wind turbine.
- a further preferred application of a special azimuth control consists in checking azimuth reference positions, wherein a special azimuth position, in particular the same one, is specified to several or all wind turbines of a wind farm via the common wind farm control. Misalignments of individual wind turbines occur again and again in practice if the azimuth reference position is not carefully measured, for example by means of GPS or compass direction finding, when the wind turbine is commissioned. In this case, for example, using binoculars, an observer can advantageously and easily check whether all of the wind energy installations in the wind farm are aligned identically, that is to say with the same special azimuth position.
- This special azimuth position is advantageously related to the viewing direction of the observer in relation to the wind farm or in relation to the individual wind energy installation of the wind farm. If it is advantageously about 90°, ie perpendicular to the viewer's line of sight, even minor misalignments can be easily recognized, since the rotor blades of the rotor are then not in one plane for the observer.
- the special azimuth position of each wind turbine in the wind farm can also be calculated and specified individually in relation to the observer's position, determined for example by means of GPS. In this case, the position of the viewer is preferably transmitted together with the command to initiate the special azimuth control, with the azimuth controls of the wind turbines calculating the nacelle alignment to be set using the transmitted position of the viewer and their own position.
- a navigation system of a service vehicle is designed in such a way that when a wind turbine is selected or approached, in particular if the distance to the wind turbine falls below a limit and/or a limit delay time until arrival, a service request is automatically sent by the navigation system or remote monitoring Central is sent to the wind turbine or to a remote monitoring center, which is recognized by the wind turbine as an entry condition or request for a process in a special azimuth position.
- a service request is automatically sent by the navigation system or remote monitoring Central is sent to the wind turbine or to a remote monitoring center, which is recognized by the wind turbine as an entry condition or request for a process in a special azimuth position.
- this can be updated or corrected during the journey.
- only the position of the service vehicle can be transmitted to the wind turbine or a remote monitoring center and the expected time of arrival there can be determined.
- the special azimuth position is then requested either immediately for the estimated time of arrival or if the distance falls below a limit or a delay time limit.
- the object on which the invention is based is also achieved by a wind energy plant with a tower and a machine nacelle rotatably arranged on the tower with a rotor, which further includes a control unit with an azimuth control, which is designed to carry out a previously described method according to the invention.
- a control unit can be designed as a programmable data processing system or as a hard-wired switching logic.
- control unit has one or more status codes with which the occurrence of entry conditions and/or exit conditions with regard to one or more state variables and/or operating variables is monitored, with different priorities for processing the associated status codes being assigned in particular for different status codes
- Azimuth special control programs are provided. This represents a simple embodiment that is easy to implement in computer-aided control units.
- the object on which the invention is based is also achieved by a computer program product with program code means, when executed in a control unit of a wind energy installation designed as a data processing installation, a method according to the invention described above for operating a wind energy installation is executed.
- a machine nacelle 1 of a wind turbine with a rotor 1a on a tower 2 is shown in a schematic representation.
- the rotor axis or rotor hub defines a direction 5, which is denoted by 0°.
- the machine housing 1 defines a longitudinal axis which defines a direction of 180° to the rear of the machine gondola 1 and a transverse axis 4 which defines the direction 90° and ⁇ 90° to the longitudinal axis 3 .
- These angle specifications relate to the internal coordinate system of machine gondola 1.
- a wind direction 6 is shown schematically, which deviates from the direction 5 of the rotor hub.
- An offset direction 8 points in the direction from which the wind is coming.
- a possible special azimuth control consists of operating automatic wind tracking with the corresponding offset azimuth angle 9 in order to reduce loads on the wind turbine .
- FIG. 2 a further schematic plan view from above of a machine gondola 1 is shown, stationary structures on the ground, namely buildings 10, 10' and an access road 11, being shown.
- stationary structures on the ground namely buildings 10, 10' and an access road 11, being shown.
- a special azimuth position in the angular sector 13, i.e. with a gondola position rotated roughly 180° away from the buildings 10, 10' and the access road 11, could be selected.
- the direction of travel 14 is indicated with an arrow and means the shortest travel path, as long as this does not lead to an automatic cable untwisting. In the latter case, the direction of travel 14 would have to be reversed. This also leads to a partial untwisting of the cables.
- angle sector 13 is to be approached in a special azimuth control
- machine nacelle 1 in 2 situation shown the possibility of proceeding in or against the direction of travel 14. In both cases, the process is terminated as soon as angle sector 13 is reached.
- This can alternatively be done with regard to the shortest path or with regard to a direction of a cable untwisting.
- the traverse paths, as in the in 2 illustrated example differ only slightly, for example, a cable untwisting can be prioritized.
- the angular position 12 or the angular sector 13 should be selected so that either a particularly easy approach from the access road 11 is made possible or there is a reduction in the risk of rotor de-icing, so that ice can no longer fall on the buildings 10, 10'. This can also be used to avoid shadows or reflections when the sun is in the right position.
- Such a special azimuth position can therefore be stored individually, system-specifically or site-specifically, in particular also for various selection options, for example with regard to icing, rotor blade maintenance, installation of an auxiliary crane or an oil change.
- the general wind energy installation controller 20, which controls the entire operation of the wind energy installation, is controlled, among other things, by an azimuth controller 21, which can be implemented, for example, as a computer program with various subroutines.
- a subroutine within the azimuth control 21 is a standard azimuth control program 22 which relates to the operation of the azimuth control 21 in the normal case.
- the standard azimuth control program 22 are in the embodiment according to 3 three special control programs 23, 24 and 25 are provided, which have decreasing priority in order, namely, for example, priority 1 for the control program 23, priority 2 for the control program 24 and priority 3, i.e. the lowest priority, for the control program 25. With each of the control programs 23, 24, 25 is linked to its own special azimuth position.
- Each of the special control programs is linked to a status code 23a, 24a, 25a which, when the status code 23a, 24a, 25a occurs, results in the corresponding special control program 23, 24, 25 being executed.
- the respective status code 23a, 24a, 25a is set when an entry condition 23b, 24b, 25b is present.
- Status code 23a, 24a, 25a is reset and the special control program 23, 24, 25 is terminated as a result, depending on the selection of the logic used in status code 23a, 24a, 25a, either when entry condition 23b, 24b, 25b no longer exists , or when an exit condition 23c, 24c, 25c occurs.
- Entry condition 23b, 24b, 25b and exit condition 23c, 24c, 25c can also be logically linked to one another even more individually.
- the corresponding status code 23a, 24a, 25a thus activates and deactivates the corresponding special control program 23, 24, 25 connected thereto, with an internal priority logic in the azimuth control selecting which of the control programs 23, 24, 25 is to be executed.
- the corresponding control or special control is then transmitted to the controller 20, which executes it.
- the positioning process can also be automatically deactivated by specific events, at a specified time or after a specified delay time.
- Additional in 3 Control functions relate to checking the cable untwisting to determine the direction of travel, checking the permissible limit wind speed or calculating a required tracking time or a tracking start time. Furthermore, locking of the cable untwisting and/or manual tracking in the status of the special control can be provided.
- a signal is given when a special azimuth position is reached. This can happen through an obstruction light, a signal light, acoustically or in remote monitoring.
- a flowchart of an azimuth control program is shown that is used during operation of a wind turbine for example every 10 milliseconds. After starting the azimuth control, there is first a query as to whether an azimuth stop is active. If so, the azimuth program is stopped. This will trigger the azimuth motors to disable them.
- azimuth stop If the azimuth stop is not active, it is checked whether manual operation is active. If the answer is yes, a "manual operation" azimuth program is carried out so that the azimuth motors are controlled manually.
- the automatic azimuth is not off, it is checked whether an automatic cable untwisting is active. If the answer is yes, an azimuth program "cable untwisting" is activated and the azimuth motors are activated accordingly for untwisting the cables.
- the automatic cable untwisting is not active, it is checked whether a special position request was made. If this is the case, it is also checked whether the prevailing wind speed is above a predetermined limit wind speed. Only if this is not the case is an azimuth program "position request" activated for the special position request and the azimuth motors controlled in such a way that the requested position is controlled.
- a query is made as to whether a special wind tracking is active. If this is the case, an azimuth program "special wind tracking” is activated. If not, the general azimuth program "automatic wind tracking" is executed, which represents the normal operation of the wind turbine.
- the automatic cable untwisting can be activated, for example, when the control recognizes that the nacelle has meanwhile been moved so far in one direction by the azimuth control that the cables are twisted and must be untwisted.
- FIG 5 a flow chart is shown to enable determining in which direction azimuth steering should occur.
- a query is first made as to whether the wind energy installation is stopped. If the answer is no, the return value is that the azimuth motors are turned off. If the wind turbine is actually stopped, a query is made as to whether the nacelle position is in the target sector or on a target position. If this is answered in the affirmative, the return value "azimuth motors off" is also given.
- the next check is whether the nacelle position plus the clockwise traverse angle is less than the maximum twist angle. If this is the case, the return value is given that the gondola should be rotated clockwise. If not, the return value is that the gondola should be rotated counterclockwise.
- a cross-check is carried out to determine whether the nacelle position plus the counterclockwise angle is less than a maximum twisting angle. If this is the case, the return value is that the nacelle is to be rotated counterclockwise, otherwise the return value is that the nacelle is to be rotated clockwise. This ensures that the nacelle is not twisted beyond the maximum twist angle.
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Description
Die Erfindung betrifft ein Verfahren zum Betreiben einer Windenergieanlage mit einem Turm sowie einer auf dem Turm drehbar angeordneten Maschinengondel mit einem Rotor, sowie eine entsprechende Windenergieanlage und ein Computerprogrammprodukt.The invention relates to a method for operating a wind energy installation with a tower and a machine nacelle with a rotor arranged rotatably on the tower, as well as a corresponding wind energy installation and a computer program product.
Bekannte Windenergieanlagen verfügen über einen Turm, auf dessen Spitze eine Maschinengondel drehbar angeordnet ist. Diese beherbergt einen Generator und gegebenenfalls ein Getriebe, die mit einem Rotor verbunden sind, der sich um eine Rotorachse dreht. Im regulären Betrieb wird die Maschinengondel mit dem Rotor um die Turmachse gedreht, um sie der veränderlichen Windrichtung nachzuführen. Die Steuerung dieser Drehung um die Turmachse wird als Azimutsteuerung bezeichnet.Known wind turbines have a tower on the top of which a machine gondola is rotatably arranged. This houses a generator and, if necessary, a gearbox, which are connected to a rotor that rotates about a rotor axis. In regular operation, the nacelle is rotated with the rotor around the tower axis in order to track the changing wind direction. Controlling this rotation about the turret axis is called azimuth control.
Ein Beispiel einer entsprechenden Azimutsteuerung ist ein aus
In
Eine Begrenzung findet die Azimutsteuerung unter anderem aufgrund der Kabelverdrillung derjenigen Kabel, die von der Maschinengondel in den Turm führen und die elektrischen Komponenten in der Maschinengondel mit bodenständigen Komponenten verbinden, beispielsweise Leistungskabel. Wenn sich die Maschinengondel mehrmals um die Turmachse gedreht hat, sind diese Kabel soweit verdrillt, dass eine weitere Verdrehung der Maschinengondel um die Turmachse in die gleiche Richtung zu einer Beschädigung der Kabel und ihrer Verbindungen führen würde. Daher wird in diesem Fall, üblicherweise nach einer Drehung der Maschinengondel um 720°, also einer zweifachen Komplettdrehung, eine automatische Entdrillung eingeleitet, die Maschinengondel also wieder zurückrotiert, um die Verdrehung bzw. Verdrillung der Kabel zu beheben.Azimuth control is limited, among other things, by the cable twisting of those cables that lead from the nacelle to the tower and connect the electrical components in the nacelle to components on the ground, such as power cables. If the nacelle has rotated several times around the tower axis, these cables are twisted to such an extent that further twisting of the nacelle around the tower axis in the same direction would damage the cables and their connections. Therefore, in this case, usually after a rotation of the machine nacelle by 720°, i.e. a double complete rotation, automatic untwisting is initiated, ie the machine nacelle is rotated back again in order to eliminate the twisting or twisting of the cables.
Während die übliche Art des Betriebs einer Windenergieanlage mit automatischer Windnachführung in den meisten Fällen einen optimalen Betrieb gewährleistet und eine optimale Energieausbeute nach sich zieht, ist die übliche Azimutsteuerung in Sonderfällen ungünstig. Es ist daher die Aufgabe der vorliegenden Erfindung, ein Verfahren und eine entsprechende Windenergieanlage sowie ein Computerprogrammprodukt zur Verfügung zu stellen, mit denen der Betrieb einer Windenergieanlage in Ausnahmesituationen sicherer und effizienter gestaltbar ist.While the usual way of operating a wind turbine with automatic yaw adjustment ensures optimal operation in most cases and entails an optimal energy yield, the usual azimuth control is unfavorable in special cases. It is therefore the object of the present invention to provide a method and a corresponding wind energy installation as well as a computer program product with which the operation of a wind energy installation can be made safer and more efficient in exceptional situations.
Diese Aufgabe wird durch ein Verfahren zum Betreiben einer Windenergieanlage mit einem Turm sowie einer auf dem Turm drehbar angeordneten Maschinengondel mit einem Rotor gelöst, das dadurch weitergebildet ist, dass die Maschinengondel mittels wenigstens einer in einer Azimutsteuerung der Windenergieanlage implementierten Azimut-Sondersteuerung zu einer, insbesondere vorbestimmten oder vorbestimmbaren, Azimut-Sonderposition verfahren wird, wenn eine in der Azimut-Sondersteuerung definierte Eintrittsbedingung erfüllt ist, wobei mehrere verschiedene Azimut-Sondersteuerungen mit jeweils unterschiedlichen Eintrittsbedingungen und/oder Austrittsbedingungen implementiert sind, die jeweils mit der gleichen Azimut-Sonderposition oder mit verschiedenen Azimut-Sonderpositionen verbunden sind, wobei verschiedenen Azimut-Sondersteuerungen in der Azimutsteuerung verschiedene Prioritäten zugewiesen sind, wobei bei Erfüllung mehrerer Eintrittsbedingungen und/oder Austrittsbedingungen diejenige Azimut-Sondersteuerung mit der höchsten Priorität ausgeführt wird.This object is achieved by a method for operating a wind turbine with a tower and a machine pod that is rotatably arranged on the tower and has a rotor, which is further developed in that the machine pod is converted into an, in particular predetermined or predeterminable special azimuth position when an entry condition defined in the special azimuth control is met, with several different special azimuth controls having different entry conditions and/or exit conditions being implemented, each with the same special azimuth position or with different ones Special azimuth positions are connected, different priorities being assigned to different special azimuth controls in the azimuth control, with the fulfillment of a plurality of entry conditions and/or exit conditions that special azimuth control having the highest priority being executed.
Die Azimutsteuerung und die Azimut-Sondersteuerung können beispielsweise als Computerprogramm in einer als Datenverarbeitungsanlage und der Computer ausgebildeten Steuereinheit der Windenergieanlage ausgebildet sein oder als fest verdrahtete Elektronik, in der die Steuerung und die Sondersteuerung durch eine vorbestimmte ausgewählte Verdrahtung implementiert sind.The azimuth control and the special azimuth control can be designed, for example, as a computer program in a control unit of the wind turbine designed as a data processing system and the computer, or as hard-wired electronics in which the control and the special control are implemented by a predetermined selected wiring.
Die Erfindung beruht auf dem Grundgedanken, dass Sondersituationen sicherer und effizienter behandelbar sind, wenn die Azimutsteuerung nicht eine übliche Windnachführung mit einer Ausrichtung des Rotors zur aktuellen Windrichtung hin durchführt, sondern die Maschinengondel weitgehend automatisiert in eine Azimut-Sonderposition verfährt. Dies kann insbesondere auch bedeuten, dass die Maschinengondel in einer bereits eingenommenen Azimut-Sonderposition verbleibt.The invention is based on the basic idea that special situations can be treated more safely and efficiently if the azimuth control does not carry out a usual wind tracking with an alignment of the rotor to the current wind direction, but moves the machine nacelle largely automatically into a special azimuth position. In particular, this can also mean that the machine gondola remains in a special azimuth position that has already been assumed.
Ebenso ist es im Rahmen der Erfindung vorgesehen, dass bei Einleitung einer Azimut-Sondersteuerung die Gondel zunächst in eine Richtung, beispielsweise eine Kabel-Entdrillrichtung, verfahren wird und während des Verfahrens die Azimut-Sonderposition bestimmt wird. Eine Azimut-Sonderposition kann also vorbestimmt oder vorbestimmbar sein oder erst im Verlauf einer Azimut-Sondersteuerung bestimmt werden. Außerdem kann erfindungsgemäß eine vorbestimmte Azimut-Sonderposition im Verlauf oder im Rahmen einer Azimut-Sondersteuerung gegebenenfalls noch verändert werden, also die anzufahrende Zielposition noch geändert werden.It is also provided within the scope of the invention that when a special azimuth control is initiated, the gondola is first moved in one direction, for example a cable untwisting direction, and the special azimuth position is determined during the process. A special azimuth position can therefore be predetermined or predeterminable or can only be determined in the course of a special azimuth control. In addition, according to the invention, a predetermined special azimuth position can also be changed in the course or as part of a special azimuth control, ie the target position to be approached can also be changed.
Im Stand der Technik ist es üblich, Sonderpositionen weitgehend manuell anzufahren, indem die automatische Windnachführung unterbrochen wird und eine gewünschte Azimutposition über Tastenbefehle an der Windenergieanlage oder über eine Fernüberwachung eingestellt wird. Hierbei besteht die Gefahr der Fehlbedienung sowie das Risiko, dass das Wartungspersonal nach Beendigung der Arbeiten vergisst, die Anlage wieder in den Automatikbetrieb zu versetzen.In the prior art, it is customary to have special positions to be approached largely manually by interrupting the automatic yaw tracking and setting a desired azimuth position using button commands on the wind turbine or via remote monitoring. There is a risk of incorrect operation and the risk that the maintenance personnel forget to switch the system back to automatic mode after the work has been completed.
Eine entsprechende Azimut-Sonderposition ist vorzugsweise eine windrichtungsunabhängige Winkelposition oder ein windrichtungsunabhängiger Winkelsektor oder ein vorgegebener oder vorgebbarer Differenzwinkel zur Windrichtung. Eine windrichtungsunabhängige Winkelposition kann beispielsweise als Serviceposition bei stillgesetztem Rotor, beispielsweise aufgrund lokaler Gegebenheiten, gewählt sein.A corresponding special azimuth position is preferably an angular position that is independent of the wind direction, or an angular sector that is independent of the wind direction, or a predetermined or predeterminable angle difference to the wind direction. An angular position that is independent of the wind direction can be selected, for example, as a service position when the rotor is stopped, for example due to local conditions.
Ein Winkelsektor, der von einem Minimalwinkel bis zu einem Maximalwinkel auf der Windrose reicht und in dem jeder beliebige Winkel innerhalb des Winkelsektors als Sonderposition eingenommen werden kann, wird in Fällen gewählt, in denen beispielsweise bestimmte Winkel oder Winkelsektoren nicht angefahren werden sollen. Falls in diesem Fall bei Eintritt einer Eintrittsbedingung sich die Maschinengondel bereits im Sonder-Winkelsektor befindet, kann sie dort verbleiben, ohne weiter verfahren zu werden. Dies ist im Rahmen der vorliegenden Erfindung unter dem Begriff des Verfahrens in die Azimut-Sonderposition umfasst.An angular sector that ranges from a minimum angle to a maximum angle on the compass rose and in which any angle within the angular sector can be taken as a special position is selected in cases where, for example, certain angles or angular sectors are not to be approached. In this case, if the nacelle is already in the special angle sector when an entry condition occurs, it can remain there without being moved any further. This is included within the scope of the present invention under the concept of moving to the special azimuth position.
Ein Beispiel hierfür ist das Vorhandensein von Strukturen auf der Bodenoberfläche, die durch die Rotorblätter nicht beeinträchtigt werden sollen. Beispielsweise sind bei einer Enteisung herabfallende Eisstücke zu befürchten. Eine Auflage einer Baugenehmigung kann hierbei sein, dass die Eisblöcke nicht in bestimmten Regionen unterhalb der Windenergieanlage herunterfallen dürfen.An example of this is the presence of structures on the ground surface that should not be affected by the rotor blades. For example, falling pieces of ice are to be feared during de-icing. A condition of a building permit can be that the ice blocks may not fall down in certain regions below the wind turbine.
Ein vorgegebener oder vorgebbarer Differenzwinkel zur Windrichtung kann beispielsweise zur Lastenreduktion bei Starkwind verwendet werden, um zu einem späteren Abschalten der Windenergieanlage zu führen, so dass die Energieausbeute und Effizienz der Windenergieanlage vergrößert wird.A predetermined or predeterminable difference angle to the wind direction can be used, for example, to reduce the load in strong winds, in order to switch off the wind power plant later, so that the energy yield and efficiency of the wind power plant is increased.
In einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass die Azimut-Sondersteuerung beendet wird, wenn die Eintrittsbedingung der Azimut-Sondersteuerung nicht mehr erfüllt ist und/oder eine Austrittsbedingung zur Azimut-Sondersteuerung erfüllt ist. Eine Austrittsbedingung kann beispielsweise ein externer Befehl zum Verlassen der Azimut-Sondersteuerung sein. Es kann ausgewählt werden, ob die Azimut-Sondersteuerung nur dann verlassen wird, wenn auch die Eintrittsbedingung nicht mehr vorliegt, oder ob der Austrittsbefehl auch ausgeführt wird, wenn die Eintrittsbedingung noch vorliegt. Auch ohne Austrittsbedingung kann beispielsweise die Azimut-Sondersteuerung beendet werden, wenn die Eintrittsbedingung nicht mehr erfüllt ist.In an advantageous development of the method, it is provided that the special azimuth control is ended when the entry condition for the special azimuth control is no longer met and/or an exit condition for the special azimuth control is met. For example, an exit condition may be an external command to exit azimuth special control. It can be selected whether the azimuth special control is only exited when the entry condition is also no longer present, or whether the exit command is also executed when the entry condition is still present. Even without an exit condition, for example, the special azimuth control can be ended if the entry condition is no longer met.
Für verschiedene mögliche vorkommende Sonderfälle ist erfindungsgemäß vorgesehen, dass mehrere verschiedene Azimut-Sondersteuerungen mit jeweils unterschiedlichen Eintrittsbedingungen und/oder Austrittsbedingungen implementiert sind, die jeweils mit der gleichen Azimut-Sonderposition oder mit verschiedenen Azimut-Sonderpositionen verbunden sind. Zu jeder Azimut-Sondersteuerung kann die entsprechende Azimut-Sonderposition individuell ausgewählt werden, wobei es auch möglich ist, dass mehrere oder alle Azimut-Sondersteuerungen mit der gleichen Azimut-Sonderposition verbunden sind.For various special cases that may occur, the invention provides that several different special azimuth controls are implemented, each with different entry conditions and/or exit conditions, which are each associated with the same special azimuth position or with different special azimuth positions. The corresponding special azimuth position can be selected individually for each special azimuth control, it also being possible for several or all special azimuth controls to be connected to the same special azimuth position.
Für die mehreren Azimut-Sondersteuerungen gilt auch, dass diese mit individuell auswählbaren oder zu verknüpfenden Eintritts- und/oder Austrittsbedingungen verbunden sind.It also applies to the multiple special azimuth controls that they are associated with individually selectable or linkable entry and/or exit conditions.
Da erfindungsgemäß verschiedenen Azimut-Sondersteuerungen in der Azimutsteuerung verschiedene Prioritäten zugewiesen sind, wobei bei Erfüllung mehrerer Eintrittsbedingungen und/oder Austrittsbedingungen diejenige Azimut-Sondersteuerung mit der höchsten Priorität ausgeführt wird, lassen sich Konflikte zwischen verschiedenen Sonderereignissen, die zu einer Azimut-Sondersteuerung führen, vermeiden und eine effiziente und sichere Azimutsteuerung der Windenergieanlage verwirklichen. Prioritäten werden vorteilhafterweise nach Kriterien vergeben, die die Betriebssicherheit, die Effizienz und andere Parameter betreffen. Bei sicherheitsrelevanten Zuständen wie einer Vereisung oder bei Störungen bei Sturm wird der entsprechenden Azimut-Sondersteuerung eine hohe Priorität zugewiesen, Wartungsanfragen dementsprechend eine niedrigere Priorität.Since, according to the invention, different special azimuth controls are assigned different priorities in the azimuth control, with the azimuth special control having the highest priority being executed if a number of entry conditions and/or exit conditions are met, conflicts between different special events that lead to a special azimuth control can be avoided and realize efficient and safe azimuth control of the wind turbine. Priorities are advantageously assigned according to criteria relating to operational reliability, efficiency and other parameters. In the case of safety-relevant conditions such as icing or malfunctions during a storm, the corresponding azimuth special control is assigned a high priority, and maintenance requests are assigned a lower priority accordingly.
Als Eintrittsbedingung oder Eintrittsbedingungen einer oder mehrerer Azimut-Sondersteuerungen wird oder werden vorzugsweise ein Zeitpunkt, eine Zeitverzögerung, eine Serviceanfrage, ein Helikopter-Anflug, ein Eintritt einer zu vermeidenden Schattenwurf- oder Reflektionslage, eine vorhandene oder zu erwartende Rotorvereisung, ein Überschreiten einer ersten Grenzwindgeschwindigkeit, einer ersten Grenzwellenhöhe bei Offshore-Windenergieanlagen, einer ersten Grenzturmschwingungsamplitude, einer ersten Tierkollisionswahrscheinlichkeit und/oder eine Windnachführungsbedingung bei Rotorarretierung oder bei Starkwind angewendet. Diese Eintrittsbedingungen definieren verschiedene Sondersituationen, die zu einer Azimut-Sondersteuerung führen können und die einzeln als Eintrittsbedingung oder in einer verknüpften Art und Weise verwendet werden können.The entry condition or conditions for one or more special azimuth controls are preferably a point in time, a time delay, a service request, a helicopter approach, the occurrence of a shadow cast or reflection situation that is to be avoided, existing or expected rotor icing, exceeding a first limit wind speed , a first limit wave height in offshore wind turbines, a first limit tower oscillation amplitude, a first animal collision probability and/or a wind tracking condition when the rotor is locked or in strong winds. These entry conditions define various special situations that can lead to an azimuth special control and which can be used individually as an entry condition or in a linked manner.
Wenn hierbei als Eintrittsbedingung ein Zeitpunkt verwendet wird, kann beispielsweise eine Wartezeit bei einer Serviceausführung vermieden werden, da sich bei Beginn der Servicearbeiten die Maschinengondel bereits in der gewünschten Azimutposition befindet. Dies ist insbesondere auch bei Großanlagen mit einigen Megawatt Nennleistung interessant, da bei diesen Windenergieanlagen die Windnachführgeschwindigkeit üblicherweise im Bereich von 0,3 bis 0,5 % liegt und somit fünf bis fünfzehn Minuten vergehen können, bevor eine gewünschte Gondelposition erreicht ist.If a point in time is used as an entry condition, a waiting time when carrying out a service can be avoided, for example, since the nacelle is already in the desired azimuth position when the service work begins. This is also of particular interest for large systems with a few megawatts of rated output, since the wind tracking speed in these wind turbines is usually in the range of 0.3 to 0.5% and five to fifteen minutes can therefore elapse before a desired gondola position is reached.
Als Zeitpunkt wird hierbei bevorzugt ein Startzeitpunkt verwendet oder vorgegeben. In diesem Fall beginnt die Windenergieanlage zum vorgegebenen Zeitpunkt mit dem Verfahren der Gondel zur Einstellung der Azimut-Sonderposition. Alternativ und ebenfalls besonders bevorzugt wird als Zeitpunkt ein Zielzeitpunkt verwendet oder vorgegeben. In diesem Fall berechnet die Azimut-Sondersteuerung automatisch die benötigte Zeit zur Einstellung der gewünschten Azimut-Sonderposition und leitet den Verfahrvorgang so ein, dass die gewünschte Azimut-Sonderposition zum Zielzeitpunkt erreicht wird oder ist.A start time is preferably used or specified as the time. In this case, the wind energy installation starts moving the nacelle at the specified point in time to set the special azimuth position. Alternatively and also particularly preferably, a target time is used or specified as the time. In this case, the special azimuth control automatically calculates the time required to set the desired special azimuth position and initiates the movement process in such a way that the desired special azimuth position is or is reached at the target time.
Bei einer Zeitverzögerung als Eintrittsbedingung kann der vorhandene normale Betriebsmodus länger ausgenutzt werden. Bevorzugt wird auch eine Serviceanfrage mit einer Zeitverzögerung und/oder Zielzeitvorgabe verbunden, so dass bei einer Serviceanfrage die Sonder-Azimutsteuerung zum spätest möglichen Zeitpunkt ausgeführt wird, so dass das Serviceteam bei Eintreffen, also beispielsweise 15 Minuten später, die Windenergieanlage in der sondergesteuerten Sonderposition vorfindet.With a time delay as an entry condition, the existing normal operating mode can be used longer. A service request is preferably also associated with a time delay and/or target time specification, so that in the event of a service request, the special azimuth control is carried out at the latest possible time, so that the service team finds the wind turbine in the specially controlled special position when it arrives, for example 15 minutes later .
Bei einem Helikopter-Anflug kann die Windenergieanlage in eine Sonderposition verfahren werden, um beispielsweise geländeabhängige Einflugschneisen zu ermöglichen. Weitere geländeabhängige Eintrittsbedingungen sind beispielsweise der Eintritt einer zu vermeidenden Schattenwurf- oder Reflektionslage, die insbesondere bei einem bestimmten Sonnenstand eintreten und in Bezug auf vorhandene Wohnbebauung oder Verkehrsstraßen zu vermeiden sind und gegebenenfalls in einer Auflage einer Baugenehmigung festgelegt sein können.In the case of a helicopter approach, the wind turbine can be moved into a special position, for example to enable terrain-dependent entry lanes. Other entry conditions that depend on the terrain are, for example, the occurrence of shadows or reflections that are to be avoided, which occur in particular at a certain position of the sun and are to be avoided in relation to existing residential buildings or traffic roads and may be specified in a condition of a building permit.
Ebenso ist es, insbesondere bei einem Helikopteranflug, vorteilhaft, eine mittlere Windrichtung zu ermitteln und einen vorgebbaren Differenzwinkel zu der ermittelten mittleren Windrichtung als feste Azimut-Sonderposition einzustellen, die bei Windrichtungsschwankungen anschließend nicht mehr verändert wird. Dies kommt insbesondere dem Helikopter-Anflug zugute, bei dem die Windenergieanlage parallel zur Rotorebene und möglichst gegen die Windrichtung angeflogen wird oder werden soll. Während des Anflugs sollte die Gondelposition sich selbst bei plötzlichen stärkeren Windrichtungsänderungen nicht ändern, da ein anfliegender Helikopterpilot die Gondel der Windenergieanlage als Fixpunkt benötigt.It is also advantageous, especially for a helicopter approach, to determine an average wind direction and to set a definable difference angle to the determined average wind direction as a fixed special azimuth position, which is then no longer changed if there are fluctuations in the wind direction. This is of particular benefit to the helicopter approach, in which the wind turbine is or should be flown parallel to the rotor plane and, if possible, against the wind direction. During the approach, the nacelle position should not change, even if there are sudden changes in the wind direction, since a helicopter pilot approaching needs the nacelle of the wind turbine as a fixed point.
Insbesondere sicherheits- und effizienzrelevante Eintrittsbedingungen sind das Überschreiten einer ersten Grenzwindgeschwindigkeit, einer ersten Grenzwellenhöhe bei Offshore-Windenergieanlagen, einer ersten Grenzturmschwingungsamplitude oder einer ersten Tierkollisionswahrscheinlichkeit. Beim Überschreiten der ersten Grenzwindgeschwindigkeit oder der ersten Grenzwellenhöhe kann beispielsweise eine Windnachführung mit einem Offsetwinkel bzw. Differenzwinkel als Azimut-Sonderposition eingestellt werden, um die Belastung der Windenergieanlage zu vermindern, ohne die Windenergieanlage stillsetzen zu müssen. Die Wellenhöhe bei Offshore-Windenergieanlagen und die Turmschwingungsamplitude sind ebenfalls belastungs- und somit sicherheits- und effizienzrelevant. Alle diese Grenzwerte sind anlagen- und/oder standortspezifisch auswählbar und den mit ihnen verbundenen Azimut-Sondersteuerungen wird gegebenenfalls eine hohe Priorität zugewiesen..Entry conditions that are particularly relevant to safety and efficiency are exceeding a first limit wind speed, a first limit wave height in offshore wind turbines, a first limit tower vibration amplitude or a first animal collision probability. If the first limit wind speed or the first limit wave height is exceeded, wind tracking with an offset angle or difference angle can be set as a special azimuth position, for example, in order to reduce the load on the wind turbine without having to shut down the wind turbine. The wave height in offshore wind turbines and the tower vibration amplitude are also relevant to the load and therefore to safety and efficiency. All of these limits are facility and/or site specific selectable and associated azimuth SACs are given high priority where appropriate.
Ebenfalls Gegenstand einer Auflage einer Baugenehmigung kann ein Tier- oder Artenschutz sein, der bezüglich gefährdeter Flugtiere, etwa Fledermäusen oder gefährdeten Vögeln, besteht. Bei bekannten Orten der Brutgebiete und möglicher Einflugschneisen solcher Tiere kann die Windenergieanlage ebenfalls in ihrem Azimutwinkel in einer Sonderposition verfahren werden, um die Kollisionswahrscheinlichkeit zu vermindern.The subject of a condition of a building permit can also be animal or species protection, which exists with regard to endangered flying animals, such as bats or endangered birds. With known locations of the breeding areas and possible entry paths of such animals, the wind turbine can also be moved in its azimuth angle in a special position in order to reduce the probability of collision.
Eine Windnachführungsbedingung bei Rotorarretierung oder bei Starkwind, insbesondere eine automatische Windnachführung, dient ebenfalls zur Lastenreduktion. Den mit diesen Betriebszuständen verbundenen Azimut-Sondersteuerungen kann beispielsweise eine mittlere Priorität zugewiesen werden.A wind tracking condition when the rotor is locked or in strong winds, in particular automatic wind tracking, also serves to reduce the load. The special azimuth controls associated with these operating conditions can be assigned a medium priority, for example.
Eine Servicearbeit, für die eine erfindungsgemäße Azimut-Sondersteuerung besonders nützlich ist, ist insbesondere die Benutzung einer Wartungsbühne für ein Rotorblatt, die die Aufstellung der Wartungsbühne an einer bestimmten Stelle erfordert. Das Gleiche gilt für das Aufstellen eines Hilfskrans mit Seilwinden oder Umlenkrollen am Boden. Auch ein Getriebeölwechsel mit Schlauchverbindung oder das Aufholen eines Werkzeugs oder von Komponenten, insbesondere Offshore, kann das Verfahren der Maschinengondel in eine Azimut-Sonderposition erfordern. Solche Betriebszustände gehen gegebenenfalls mit niedrigen Prioritäten der entsprechenden Azimut-Sondersteuerungen einher.In particular, one service operation for which a special azimuth control according to the invention is particularly useful is the use of a maintenance platform for a rotor blade which requires the maintenance platform to be set up at a specific location. The same applies to setting up an auxiliary crane with cable winches or pulleys on the ground. Changing the transmission oil with a hose connection or catching up a tool or components, especially offshore, can also require the machine nacelle to be moved to a special azimuth position. Such operating states may be associated with low priorities for the corresponding special azimuth controls.
Als Austrittsbedingung oder Austrittsbedingungen einer oder mehrerer Azimut-Sondersteuerungen wird oder werden vorzugsweise ein Zeitpunkt, eine Zeitverzögerung, eine Beendigung eines Servicevorgangs, ein Helikopter-Abflug, eine Beendigung einer zu vermeidenden Schattenwurf- oder Reflektionslage, eine vorhandene oder zu erwartende Rotorvereisung, ein Unterschreiten einer zweiten Grenzwindgeschwindigkeit, einer zweiten Grenzwellenhöhe bei Offshore-Windenergieanlagen, einer zweiten Grenzturmschwingungsamplitude, einer zweiten Tierkollisionswahrscheinlichkeit und/oder einer Windnachführungsbedingung bei Rotorarretierung oder bei Starkwind angewendet.The exit condition or conditions of one or more special azimuth controls is or are preferably a point in time, a time delay, the completion of a service process, a helicopter take-off, the end of a shadow cast or reflection situation to be avoided, existing or expected rotor icing, falling below a second limit wind speed, a second limit wave height for offshore wind turbines, a second limit tower vibration amplitude, a second animal collision probability and/or a wind tracking condition when the rotor is locked or in strong winds.
Die zweiten Grenzgeschwindigkeiten, Grenzwellenhöhen, Grenzturmschwingungsamplituden und Tierkollisionswahrscheinlichkeiten liegen insbesondere unterhalb der jeweils ersten entsprechenden Grenzwerte, sie können jedoch auch den gleichen Wert annehmen, wie die entsprechenden ersten Grenzwerte. Auch diese Grenzwerte sind anlagen- und/oder standortspezifisch auswählbar.The second limit speeds, limit wave heights, limit tower oscillation amplitudes and animal collision probabilities are in particular below the respective first corresponding limit values, but they can also assume the same value as the corresponding first limit values. These limit values can also be selected on a plant and/or site-specific basis.
Da Windenergieanlagen in ihrer Azimutsteuerung üblicherweise eine automatische Kabelentdrillung implementiert haben, ist vorgesehen, dass in der Azimut-Sondersteuerung zur Bestimmung der Verfahrrichtung der Maschinengondel eine Kabelverdrillung von Kabeln zwischen der Maschinengondel und dem Turm berücksichtigt wird, wobei insbesondere die Kabelverdrillung und die Priorität einer aktuellen Azimut-Sondersteuerung berücksichtigt werden.Because wind turbines in their azimuth control usually have implemented an automatic cable untwisting, it is provided that in the azimuth special control for determining the direction of travel of the machine nacelle a cable twisting of cables between the machine nacelle and the tower is taken into account, with the cable twisting and the priority of a current azimuth special control being taken into account in particular.
Zusätzlich hierzu wird die Maschinengondel in der Azimut-Sondersteuerung in die Richtung einer Kabelentdrillung und/oder auf kürzestem Wege zur Azimut-Sonderposition verfahren. Wenn die Gondel in Richtung einer Kabelentdrillung verfahren wird, wird in jedem Fall vermieden, dass während der Ausführung einer Azimut-Sondersteuerung bei Überschreitung des Grenzwerts für die Kabelverdrillung die automatische Kabelentdrillung aktiviert wird Ein Verfahren auf kürzestem Wege vermindert die Wartezeit. Die Richtung des kürzesten Weges kann auch die Richtung der Kabelentdrillung sein.In addition to this, the nacelle is moved in the special azimuth control in the direction of a cable untwisting and/or on the shortest route to the special azimuth position. If the nacelle is moved in the direction of a cable untwist, it is avoided in any case that the automatic cable untwist is activated during the execution of an azimuth special control if the limit value for the cable twist is exceeded. A shortest path movement reduces the waiting time. The direction of the shortest path can also be the direction of cable untwisting.
Durch oben ebenfalls genannte gemeinsame Berücksichtigung von Kabelverdrillung und Priorität wird ein Kompromiss zwischen der Wichtigkeit des aktuellen Azimut-Sonderpositionsfalles und der aktuellen Notwendigkeit einer Kabelentdrillung gefunden werden. Beispielsweise kann bei Azimut-Sondersteuerungen mit höchster Priorität, etwa bei sicherheitsrelevanten Betriebsfällen wie akuter Vereisung oder Störungen bei Sturm, die Gondel auf kürzestem Wege zur Azimut-Sonderposition verfahren werden, solange der maximal zulässige Kabelverdrillwinkel nicht überschritten wird. Bei mittlerer oder niedriger Priorität hat beispielsweise die Kabelentdrillung Vorrang, solange keine unzumutbaren Wartezeiten entstehen, wobei die zumutbare Wartezeit bei niedriger Priorität größer sein darf als bei mittlerer Priorität. Hierzu wird vorzugsweise zu jeder Azimut-Sondersteuerung ein, insbesondere prioritätsabhängiger, Kabelentdrillungsverfahrwinkelgrenzwert definiert. Dieser ist so definiert, dass, wenn der Verfahrwinkel zur jeweiligen Azimut-Sonderposition in Richtung einer Kabelentdrillung den entsprechenden Kabelentdrillungsverfahrwinkelgrenzwert überschreitet, die Gondel in die entgegengesetzte Richtung verfahren wird, um keine übermäßige Wartezeit zu generieren. Beispielhaft sind bevorzugte Kabelentdrillungsverfahrwinkelgrenzwerte für Azimut-Sondersteuerungen mit niedriger Priorität anlagenabhängig im Bereich von 240° bis 340°, insbesondere von 270° bis 310° zu wählen, für mittlere Priorität von 190° bis 270°, insbesondere von 215° bis 245°.By also considering cable twisting and priority as mentioned above, a compromise will be found between the importance of the current azimuth special position case and the current need for cable untwisting. For example, in the case of special azimuth controls with the highest priority, such as in safety-relevant operating cases such as acute icing or disruptions during a storm, the gondola can be moved to the special azimuth position using the shortest possible route, as long as the maximum permissible cable twisting angle is not exceeded. With medium or low priority, for example, cable untwisting has priority as long as there are no unreasonable waiting times, whereby the reasonable waiting time with low priority may be longer than with medium priority. For this purpose, a cable untwisting travel angle limit value, in particular a priority-dependent one, is preferably defined for each special azimuth control. This is defined in such a way that if the movement angle for the respective special azimuth position in the direction of a cable untwisting exceeds the corresponding cable untwisting travel angle limit value, the gondola is moved in the opposite direction in order not to generate excessive waiting time. For example, preferred cable untwisting travel angle limit values for azimuth special controls with low priority are to be selected depending on the system in the range from 240° to 340°, in particular from 270° to 310°, for medium priority from 190° to 270°, in particular from 215° to 245°.
Insbesondere zur Informierung eines wartenden Service-Dienstes, aber auch zu anderen Gelegenheit, ist vorzugsweise vorgesehen, dass signalisiert wird, wenn die Azimut-Sonderposition erreicht ist, insbesondere mittels eines Hindernisfeuers, einer Signalleuchte, akustisch oder mittels Meldung an eine Fernüberwachung.In particular to inform a waiting service, but also on other occasions, it is preferably provided that a signal is given when the special azimuth position has been reached, in particular by means of an obstruction light, a signal light, acoustically or by means of a message to remote monitoring.
In einigen Fällen, insbesondere wenn die Eintrittsbedingung für mehrere Windenergieanlagen eines Windparks eintritt, erfolgt eine Aktivierung der Azimut-Sondersteuerung für eine Mehrzahl von Windenergieanlagen eines Windparks mittels einer Windparksteuerung. Dies können die sicherheitsrelevanten Eintrittsbedingungen sein wie das Überschreiten eines Grenzwertes für einen sicherheitsrelevanten Parameter. Dies kann auch beispielsweise das Detektieren eines erhöhten Tierkollisionsrisikos sein oder entsprechende andere Parameter, die nicht notwendigerweise eine einzelne Windenergieanlage betreffen.In some cases, in particular when the entry condition for a plurality of wind turbines in a wind farm occurs, the special azimuth control for a plurality of wind turbines in a wind farm is activated by means of a wind farm controller. These can be safety-relevant entry conditions such as exceeding a limit value for a safety-relevant parameter. This can also be, for example, the detection of an increased risk of animal collision or corresponding other parameters that do not necessarily relate to an individual wind turbine.
Eine weitere bevorzugte Anwendung einer Azimut-Sondersteuerung besteht in einer Überprüfung von Azimut-Referenzpositionen, wobei mehreren oder allen Windenergieanlagen eines Windparks über die gemeinsame Windparksteuerung eine, insbesondere gleiche, Azimut-Sonderposition vorgegeben wird. Fehlausrichtungen einzelner Windturbinen finden in der Praxis immer wieder statt, wenn bei der Inbetriebnahme der Windenergieanlage die Azimut-Referenzposition nicht beispielsweise mittels GPS- oder Kompasspeilung sorgfältig eingemessen wird. Beispielsweise mit einem Fernglas kann in diesem Fall ein Beobachter vorteilhaft und einfach überprüfen, ob alle Windenergieanlagen des Windparks identisch, also mit der gleichen Azimut-Sonderposition, ausgerichtet sind.A further preferred application of a special azimuth control consists in checking azimuth reference positions, wherein a special azimuth position, in particular the same one, is specified to several or all wind turbines of a wind farm via the common wind farm control. Misalignments of individual wind turbines occur again and again in practice if the azimuth reference position is not carefully measured, for example by means of GPS or compass direction finding, when the wind turbine is commissioned. In this case, for example, using binoculars, an observer can advantageously and easily check whether all of the wind energy installations in the wind farm are aligned identically, that is to say with the same special azimuth position.
Diese Azimut-Sonderposition ist vorteilhafterweise auf die Blickrichtung des Beobachters in Bezug auf den Windpark oder in Bezug auf die einzelne Windenergieanlage des Windparks bezogen. Wenn sie vorteilhafterweise etwa 90° beträgt, also senkrecht zur Blickrichtung des Betrachters ist, können auch geringfügige Fehlausrichtungen einfach erkannt werden, da sich dann die Rotorblätter des Rotors für den Beobachter nicht in einer Ebene befinden. Die Azimut-Sonderposition jeder Windenergieanlage des Windparks kann auch individuell bezogen auf die, beispielsweise mittels GPS ermittelte, Position des Beobachters berechnet und vorgegeben werden. In diesem Fall wird zusammen mit dem Befehl zur Einleitung der Azimut-Sondersteuerung vorzugsweise die Position des Betrachters übermittelt, wobei die Azimutsteuerungen der Windenergieanlagen die Berechnung der einzustellenden Gondelausrichtung anhand der übermittelten Position des Betrachters und ihrer eigenen Position berechnet.This special azimuth position is advantageously related to the viewing direction of the observer in relation to the wind farm or in relation to the individual wind energy installation of the wind farm. If it is advantageously about 90°, ie perpendicular to the viewer's line of sight, even minor misalignments can be easily recognized, since the rotor blades of the rotor are then not in one plane for the observer. The special azimuth position of each wind turbine in the wind farm can also be calculated and specified individually in relation to the observer's position, determined for example by means of GPS. In this case, the position of the viewer is preferably transmitted together with the command to initiate the special azimuth control, with the azimuth controls of the wind turbines calculating the nacelle alignment to be set using the transmitted position of the viewer and their own position.
In einer vorteilhaften Erweiterung des Verfahrens ist ein Navigationssystem eines Servicefahrzeuges so ausgebildet, dass bei Anwahl oder Annäherung an eine Windenergieanlage, insbesondere bei Unterschreiten einer Grenzentfernung zur Windenergieanlage und/oder einer Grenz-Verzögerungszeit bis zur Ankunft, automatisch eine Serviceanfrage von dem Navigationssystem oder einer Fernüberwachungs-Zentrale an die Windenergieanlage oder an eine Fernüberwachungszentrale versendet wird, die von der Windenergieanlage als Eintrittsbedingung oder Anfrage für ein Verfahren in eine Azimut-Sonderposition erkannt wird. Auf diese Weise können Service-Anfragen automatisch abgesetzt werden und die Wartezeiten für Service-Teams verringert werden. Dies umfasst mehrere mögliche Fälle. So kann bei Anwahl des Standorts der Windenergieanlage bei Fahrtantritt bereits die berechnete Ankunftszeit übermittelt werden, zu der die Azimut-Sonderposition eingenommen sein soll. Dies kann ggfs. während der Anfahrt aktualisiert oder korrigiert werden. Ebenso kann der Einfachheit halber lediglich die Position des Servicefahrzeugs an die Windenergieanlage oder eine Fernüberwachungszentrale übermittelt werden und die voraussichtliche Ankunftszeit dort ermittelt werden. Die Anforderung der Azimut-Sonderposition erfolgt dann entweder sofort für die voraussichtliche Ankunftszeit oder bei Unterschreiten einer Grenz-Entfernung oder einer Grenz-Verzögerungszeit.In an advantageous extension of the method, a navigation system of a service vehicle is designed in such a way that when a wind turbine is selected or approached, in particular if the distance to the wind turbine falls below a limit and/or a limit delay time until arrival, a service request is automatically sent by the navigation system or remote monitoring Central is sent to the wind turbine or to a remote monitoring center, which is recognized by the wind turbine as an entry condition or request for a process in a special azimuth position. In this way, service requests can be dispatched automatically and waiting times for service teams are reduced become. This includes several possible cases. Thus, when selecting the location of the wind turbine at the start of the journey, the calculated arrival time at which the special azimuth position should be taken can already be transmitted. If necessary, this can be updated or corrected during the journey. Likewise, for the sake of simplicity, only the position of the service vehicle can be transmitted to the wind turbine or a remote monitoring center and the expected time of arrival there can be determined. The special azimuth position is then requested either immediately for the estimated time of arrival or if the distance falls below a limit or a delay time limit.
Die der Erfindung zugrunde liegende Aufgabe wird auch durch eine Windenergieanlage mit einem Turm sowie einer auf dem Turm drehbar angeordneten Maschinengondel mit einem Rotor gelöst, die weiter eine Steuereinheit mit einer Azimutsteuerung umfasst, die ausgebildet ist, ein erfindungsgemäßes zuvor beschriebenes Verfahren auszuführen. Eine solche Steuereinheit kann als programmierbare Datenverarbeitungsanlage oder auch als fest verdrahtete Schaltlogik ausgeführt sein.The object on which the invention is based is also achieved by a wind energy plant with a tower and a machine nacelle rotatably arranged on the tower with a rotor, which further includes a control unit with an azimuth control, which is designed to carry out a previously described method according to the invention. Such a control unit can be designed as a programmable data processing system or as a hard-wired switching logic.
In einer bevorzugten Ausführungsform weist die Steuereinheit einen oder mehrere Statuscodes auf, mit dem oder denen das Eintreten von Eintrittsbedingungen und/oder Austrittsbedingungen bezüglich einer oder mehrerer Zustandsgrößen und/oder Betriebsgrößen überwacht wird, wobei insbesondere für verschiedene Statuscodes verschiedene Prioritäten zur Verarbeitung der mit ihnen verbundenen Azimut-Sondersteuerungsprogramme vorgesehen sind. Dies stellt eine simple und in computergestützten Steuereinheiten leicht zu implementierende Ausführungsform dar.In a preferred embodiment, the control unit has one or more status codes with which the occurrence of entry conditions and/or exit conditions with regard to one or more state variables and/or operating variables is monitored, with different priorities for processing the associated status codes being assigned in particular for different status codes Azimuth special control programs are provided. This represents a simple embodiment that is easy to implement in computer-aided control units.
Die der Erfindung zugrunde liegende Aufgabe wird auch durch ein Computerprogrammprodukt mit Programmcodemitteln gelöst, bei deren Ausführung in einer als Datenverarbeitungsanlage ausgebildeten Steuereinheit einer Windenergieanlage ein erfindungsgemäßes oben beschriebenes Verfahren zum Betreiben einer Windenergieanlage ausgeführt wird.The object on which the invention is based is also achieved by a computer program product with program code means, when executed in a control unit of a wind energy installation designed as a data processing installation, a method according to the invention described above for operating a wind energy installation is executed.
Die zu den genannten Erfindungsgegenständen, also dem Verfahren, der Windenergieanlage und dem Computerprogrammprodukt genannten Merkmale, Eigenschaften und Vorteile gelten ohne Einschränkung auch für die jeweils anderen Erfindungsgegenstände.The features, properties and advantages mentioned for the stated objects of the invention, ie the method, the wind energy installation and the computer program product, also apply without restriction to the respective other objects of the invention.
Die Erfindung wird nachstehend ohne Beschränkung des allgemeinen Erfindungsgedankens anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen beschrieben, wobei bezüglich aller im Text nicht näher erläuterten erfindungsgemäßen Einzelheiten ausdrücklich auf die Zeichnungen verwiesen wird. Es zeigen:
- Fig. 1
- eine schematische Darstellung einer Azimut-Sonderposition,
- Fig. 2
- eine weitere schematische Darstellung von Azimut-Sonderpositionen,
- Fig. 3
- eine schematische Darstellung einer bespielhaften Implementierung von Azimut-Sondersteuerungen,
- Fig. 4
- eine Ablaufschematik für eine Azimutsteuerung und
- Fig. 5
- eine Ablaufschematik zur Feststellung einer Azimut-Verfahrrichtung.
- 1
- a schematic representation of a special azimuth position,
- 2
- another schematic representation of special azimuth positions,
- 3
- a schematic representation of an exemplary implementation of special azimuth controls,
- 4
- a flow chart for an azimuth control and
- figure 5
- a flowchart for determining an azimuth direction of travel.
In den folgenden Figuren sind jeweils gleiche oder gleichartige Elemente bzw. entsprechende Teile mit denselben Bezugsziffern versehen, so dass von einer entsprechenden erneuten Vorstellung abgesehen wird.In the following figures, the same or similar elements or corresponding parts are provided with the same reference numerals, so that they are not presented again.
In
Eine Windrichtung 6 ist schematisch dargestellt, die von der Richtung 5 der Rotornabe abweicht. Eine Offset-Richtung 8 weist in die Richtung, aus der der Wind kommt. Zwischen dieser Offset-Richtung 8 und der 0°-Richtung 5 der Rotornabe liegt ein Offset-Azimutwinkel 9. Eine mögliche Azimut-Sondersteuerung besteht darin, eine automatische Windnachführung mit dem entsprechenden Offset-Azimutwinkel 9 zu betreiben, um Lasten auf die Windenergieanlage zu reduzieren.A
In
Für das Beispiel einer Azimut-Sondersteuerung, die ein Verfahren zu der Winkelposition 12 vorsieht, ist die Verfahrrichtung 14 mit einem Pfeil angegeben und bedeutet den kürzesten Verfahrweg, solange dies nicht zu einer automatischen Kabelentdrillung führt. Im letzteren Fall müsste die Verfahrrichtung 14 umgedreht werden. Dies führt auch zu einer teilweisen Entdrillung der Kabel.For the example of a special azimuth control, which provides a method to the
Wenn alternativ der Winkelsektor 13 in einer Azimut-Sondersteuerung angefahren werden soll, hat die Maschinengondel 1 in der in
Die Winkelposition 12 bzw. der Winkelsektor 13 sollten so gewählt sein, dass entweder eine besonders einfache Anfahrt von dem Zufahrtsweg 11 ermöglicht wird oder eine Gefahrenreduzierung bei Rotorenteisung stattfindet, so dass Eis nicht mehr auf die Gebäude 10, 10' fallen kann. Auch eine Schattenwurfvermeidung oder eine Reflektionsvermeidung bei entsprechendem Sonnenstand kann hierdurch erreicht werden. Eine solche Azimut-Sonderposition kann daher individuell anlagen- bzw. standort-spezifisch gespeichert werden, insbesondere auch für verschiedene Auswahloptionen, beispielsweise bezüglich Vereisung, Rotorblattwartung, Installation eines Hilfskrans oder eines Ölwechsels.The
In
Jedes der Sondersteuerprogramme ist mit einem Statuscode 23a, 24a, 25a verbunden, die bei Eintreten des Statuscodes 23a, 24a, 25a dazu führen, dass das entsprechende Sondersteuerprogramm 23, 24, 25 ausgeführt wird. Der jeweilige Statuscode 23a, 24a, 25a wird gesetzt, wenn eine Eintrittsbedingung 23b, 24b, 25b vorliegt. Das Zurücksetzen des Statuscodes 23a, 24a, 25a und das daraus folgende Beenden des Sondersteuerprogramms 23, 24, 25 erfolgt, abhängig von der Auswahl der im Statuscode 23a, 24a, 25a verwendeten Logik entweder, wenn die Eintrittsbedingung 23b, 24b, 25b nicht mehr vorliegt, oder wenn eine Austrittsbedingung 23c, 24c, 25c eintritt. Eintrittsbedingung 23b, 24b, 25b und Austrittsbedingung 23c, 24c, 25c können auch noch individueller miteinander logisch verknüpft werden.Each of the special control programs is linked to a
Der entsprechende Statuscode 23a, 24a, 25a aktiviert und deaktiviert somit das entsprechende damit verbundene Sondersteuerprogramm 23, 24, 25, wobei eine interne Prioritätslogik in der Azimutsteuerung auswählt, welches der Steuerprogramme 23, 24, 25 ausgeführt wird. Die entsprechende Steuerung oder Sondersteuerung wird dann an die Steuerung 20 übermittelt, die diese ausführt.The
Mit der erfindungsgemäßen Azimut-Sondersteuerungsfunktion, die wie in
Der Positioniervorgang kann außerdem automatisch deaktiviert werden durch bestimmte Ereignisse, zu einer vorgegebenen Uhrzeit oder nach einer vorgegebenen Verzögerungszeit.The positioning process can also be automatically deactivated by specific events, at a specified time or after a specified delay time.
Es ergeben sich die Vorteile einer Zeitersparnis beim Service, da Service-Personal nicht warten muss. Eine Ertragsmaximierung wird unter anderem dadurch erreicht, dass der Produktionsbetrieb erst zum spätest möglichen Zeitpunkt unterbrochen werden muss. Bezüglich Fehlbedienungen werden Gefahren vermieden. Es werden Lasten reduziert, beispielsweise durch die Auswahl eines Azimuts bei Rotorarretierung.This results in the advantages of saving time during service, since service personnel do not have to wait. One of the ways in which yield is maximized is that production operations only have to be interrupted at the latest possible point in time. Dangers are avoided with regard to operating errors. Loads are reduced, for example by selecting an azimuth when the rotor is locked.
Zusätzliche in
Ebenfalls nicht dargestellt ist, dass signalisiert wird, wenn eine Azimut-Sonderposition erreicht wird. Dies kann durch ein Hindernisfeuer, eine Signalleuchte, akustisch oder in einer Fernüberwachung passieren.Also not shown is that a signal is given when a special azimuth position is reached. This can happen through an obstruction light, a signal light, acoustically or in remote monitoring.
In den
In
Falls der Azimutstopp nicht aktiv ist, wird überprüft, ob ein manueller Betrieb aktiv ist. Falls dies bejaht wird, erfolgt ein Azimutprogramm "manueller Betrieb", so dass die Azimutmotoren manuell angesteuert werden.If the azimuth stop is not active, it is checked whether manual operation is active. If the answer is yes, a "manual operation" azimuth program is carried out so that the azimuth motors are controlled manually.
Falls der manuelle Betrieb nicht aktiv ist, wird abgefragt, ob ein automatischer Azimut aus ist. Falls dies bejaht wird, so wird das Azimutprogramm wiederum gestoppt und die Azimutmotoren so angesteuert, dass diese abgestellt werden.If manual operation is not active, a query is made as to whether an automatic azimuth is off. If the answer is yes, the azimuth program is stopped again and the azimuth motors are controlled in such a way that they are switched off.
Falls der automatische Azimut nicht aus ist, wird überprüft, ob eine automatische Kabelentdrillung aktiv ist. Falls dies bejaht wird, wird ein Azimutprogramm "Kabelentdrillung" angesteuert und die Azimutmotoren dementsprechend zum Entdrillen der Kabel angesteuert.If the automatic azimuth is not off, it is checked whether an automatic cable untwisting is active. If the answer is yes, an azimuth program "cable untwisting" is activated and the azimuth motors are activated accordingly for untwisting the cables.
Falls die automatische Kabelentdrillung nicht aktiv ist, wird überprüft ob eine besondere Positionsanforderung gestellt wurde. Falls dies der Fall ist, wird außerdem überprüft, ob die herrschende Windgeschwindigkeit oberhalb einer vorbestimmten Grenzwindgeschwindigkeit ist. Nur wenn dieses nicht der Fall ist, wird ein Azimutprogramm "Positionsanforderung" für die besondere Positionsanforderung aktiviert und die Azimutmotoren so angesteuert, dass die angeforderte Position angesteuert wird.If the automatic cable untwisting is not active, it is checked whether a special position request was made. If this is the case, it is also checked whether the prevailing wind speed is above a predetermined limit wind speed. Only if this is not the case is an azimuth program "position request" activated for the special position request and the azimuth motors controlled in such a way that the requested position is controlled.
Falls allerdings eine besondere Positionsanforderung nicht aktiv ist oder die Windgeschwindigkeit oberhalb der Grenzwindgeschwindigkeit ist, wird abgefragt, ob eine besondere Windnachführung aktiv ist. Falls dies der Fall ist, wird ein Azimutprogramm "besondere Windnachführung" angesteuert. Falls nicht, wird das allgemeine Azimutprogramm "automatische Windnachführung" ausgeführt, das den normalen Betrieb der Windenergieanlage darstellt.However, if a special position request is not active or the wind speed is above the limit wind speed, a query is made as to whether a special wind tracking is active. If this is the case, an azimuth program "special wind tracking" is activated. If not, the general azimuth program "automatic wind tracking" is executed, which represents the normal operation of the wind turbine.
In jedem Fall wird nach einer Ansteuerung der Azimutmotoren die Entscheidungskette erneut durchlaufen.In any case, after the azimuth motors have been activated, the decision chain is run through again.
Bei dem Ablaufschema gemäß
Die automatische Kabelentdrillung kann beispielsweise aktiviert werden, wenn die Steuerung erkennt, dass durch die Azimutsteuerung inzwischen die Gondel so weit in eine Richtung verfahren worden ist, dass die Kabel verdrillt sind und entdrillt werden müssen.The automatic cable untwisting can be activated, for example, when the control recognizes that the nacelle has meanwhile been moved so far in one direction by the azimuth control that the cables are twisted and must be untwisted.
In
Falls die Gondelposition nicht im Zielsektor oder auf der Zielposition ist, wird der kleinste Verfahrwinkel einerseits im Uhrzeigersinn (cw = clockwise) und andererseits gegen den Uhrzeigersinn (ccw = counter-clockwise) bestimmt. Anschließend werden die beiden Winkel miteinander verglichen.If the nacelle position is not in the target sector or on the target position, the smallest travel angle is determined on the one hand clockwise (cw = clockwise) and on the other hand counterclockwise (ccw = counter-clockwise). The two angles are then compared with each other.
Falls der Verfahrwinkel im Uhrzeigersinn kleiner ist als der Verfahrwinkel im Gegenuhrzeigersinn, wird als nächstes überprüft, ob die Gondelposition plus der Verfahrwinkel in Uhrzeigerrichtung kleiner ist als der maximale Verdrillwinkel. Falls dies der Fall ist, wird als Rückgabewert gegeben, dass die Gondel im Uhrzeigersinn gedreht werden soll. Falls nicht, wird als Rückgabewert gegeben, dass die Gondel gegen den Uhrzeigersinn gedreht werden soll.If the clockwise traverse angle is less than the counterclockwise traverse angle, the next check is whether the nacelle position plus the clockwise traverse angle is less than the maximum twist angle. If this is the case, the return value is given that the gondola should be rotated clockwise. If not, the return value is that the gondola should be rotated counterclockwise.
Falls der kleinste Verfahrwinkel im Uhrzeigersinn größer ist als der Verfahrwinkel im Gegenuhrzeigersinn, erfolgt die Gegenprüfung, ob die Gondelposition plus der Winkel im Gegenuhrzeigersinn kleiner ist als ein maximaler Verdrillwinkel. Falls dies der Fall ist, wird als Rückgabewert ausgegeben, dass die Gondel gegen den Uhrzeigersinn zu drehen ist, andernfalls wird als Rückgabewert gegeben, dass die Gondel im Uhrzeigersinn zu drehen ist. Auf diese Weise wird sichergestellt, dass die Gondel nicht über den maximalen Verdrillwinkel hinaus gedreht wird.If the smallest clockwise travel angle is greater than the counterclockwise travel angle, a cross-check is carried out to determine whether the nacelle position plus the counterclockwise angle is less than a maximum twisting angle. If this is the case, the return value is that the nacelle is to be rotated counterclockwise, otherwise the return value is that the nacelle is to be rotated clockwise. This ensures that the nacelle is not twisted beyond the maximum twist angle.
Alle genannten Merkmale, auch die den Zeichnungen allein zu entnehmenden sowie auch einzelne Merkmale, die in Kombination mit anderen Merkmalen offenbart sind, werden allein und in Kombination als erfindungswesentlich angesehen. Erfindungsgemäße Ausführungsformen können durch einzelne Merkmale oder eine Kombination mehrerer Merkmale erfüllt sein.All of the features mentioned, including those that can be taken from the drawings alone and also individual features that are disclosed in combination with other features, are considered essential to the invention alone and in combination. Embodiments according to the invention can be fulfilled by individual features or a combination of several features.
- 11
- Maschinengondelmachine gondola
- 1a1a
- Rotorrotor
- 22
- TurmTower
- 33
- Längsachselongitudinal axis
- 44
- Querachsetransverse axis
- 55
- Richtung der Rotornabedirection of the rotor hub
- 66
- Windrichtungwind direction
- 88th
- Offset-Richtungoffset direction
- 99
- Offset-AzimutwinkelOffset azimuth angle
- 10, 10'10, 10'
- GebäudeBuilding
- 1111
- Zufahrtswegaccess road
- 1212
- Winkelpositionangular position
- 1313
- Winkelsektorangular sector
- 1414
- Verfahrrichtungtravel direction
- 2020
- Steuerungsteering
- 2121
- Azimutsteuerungazimuth control
- 2222
- Standard-AzimutsteuerprogrammStandard azimuth control program
- 2323
- Sondersteuerprogramm ASpecial Tax Program A
- 23a23a
- Statuscode AStatus code A
- 23b23b
- Eintrittsbedingung AEntry Condition A
- 23c23c
- Austrittsbedingung AExit Condition A
- 2424
- Sondersteuerprogramm BSpecial Tax Program B
- 24a24a
- Statuscode BStatus code B
- 24b24b
- Eintrittsbedingung BEntry condition B
- 24c24c
- Austrittsbedingung Bexit condition B
- 2525
- Sondersteuerprogramm CSpecial Tax Program C
- 25a25a
- Statuscode CStatus code C
- 25b25b
- Eintrittsbedingung CEntry condition C
- 25c25c
- Austrittsbedingung CExit Condition C
Claims (11)
- A method of operating a wind energy installation comprising a tower (2) as well as a nacelle (1) that is rotatably arranged on the tower (2) and which wind energy installation has a rotor (1a), wherein the nacelle (1) is moved, by means of at least one azimuth special control (23, 24, 25) which is implemented in an azimuth control (21) of the wind energy installation, into an azimuth special position (9, 12, 13), in particular into a predetermined or predeterminable azimuth special position (9, 12, 13), when an entrance condition (23b, 24b, 25b) defined in the azimuth special control (23, 24, 25) is satisfied, characterised in that a plurality of different azimuth special controls (23, 24, 25) are each implemented with different entrance conditions (23b, 24b, 25b) and / or exit conditions (23c, 24c, 25c), each of which are connected to the same azimuth special position (9, 12, 13) or to different azimuth special positions (9, 12, 13), wherein different priorities are assigned to different azimuth special controls (23, 24, 25) in the azimuth control (21), wherein, when a plurality of entrance conditions (23b, 24b, 25b) and / or exit conditions (23c, 24c, 25c) are satisfied, the azimuth special control (23, 24, 25) with the highest priority is executed, wherein a cable twist of cables between the nacelle (1) and the tower (2) is taken into consideration in the azimuth special control (23, 24, 25) in order to determine the direction of movement (14), wherein the cable twist and the priority of a current azimuth special control (23, 24, 25) are taken into consideration, wherein, in dependence upon the priority of the azimuth special control (23, 24, 25), the nacelle (1) is moved in the azimuth special control (23, 24, 25) in the direction of a cable untwist and / or along the shortest path to the azimuth special position (9, 12, 13).
- The method according to claim 1, characterised in that the azimuth special position (9, 12, 13) is an angular position (12) which is independent of the wind direction, or an angular sector (13) which is independent of the wind direction, or a predetermined or predeterminable difference angle (9) with respect to the wind direction (6).
- The method according to claim 1 or 2, characterised in that the azimuth special control (23, 24, 25) is ended when the entrance condition (23b, 24b, 25b) of the azimuth special control (23, 24, 25) is no longer satisfied, and / or an exit condition (23c, 24c, 25c) to the azimuth special control (23, 24, 25) is satisfied.
- The method according to any one of claims 1 to 3, characterised in that a point in time, a time delay, a service request, an approach of a helicopter, an entering into a shadow or reflection position that is to be avoided, an existing or an anticipated icing up of the rotor, an exceeding of a first threshold wind speed, a first threshold wave height in the case of offshore wind energy installations, a first threshold amplitude of a tower oscillation, a first probability of a collision with an animal, and / or a condition for an adjustment depending on the prevailing wind in the event of a locking of the rotor or in the case of strong wind is or are used as an entrance condition (23b, 24b, 25b) or as entrance conditions (23b, 24b, 25b) of one or more azimuth special controls (23, 24, 25).
- The method according to any one of claims 1 to 4, characterised in that a point in time, a time delay, an ending of a service process, a departure of a helicopter, an ending of a shadow or reflection position that is to be avoided, an existing or an anticipated icing up of the rotor, a dropping below a second threshold wind speed, a second threshold wave height in the case of offshore wind energy installations, a second threshold amplitude of a tower oscillation, a second probability of a collision with an animal, and / or a condition for an adjustment depending on the prevailing wind in the event of a locking of the rotor or in the case of strong wind is or are used as the exit condition (23c, 24c, 25c) or exit conditions (23c, 24c, 25c) of one or more azimuth special controls (23, 24, 25).
- The method according to any one of claims 1 to 5, characterised in that a signal is emitted when the azimuth special position has been reached (9, 12, 13), in particular by means of an obstruction light, a signalling light, acoustically or by means of a notification to a remote monitoring centre.
- The method according to any one of claims 1 to 6, characterised in that an activation of the azimuth special control (23 - 23c, 24 - 24c, 25 - 25c) takes place for a plurality of wind energy installations of a wind park by means of a wind park control.
- The method according to any one of claims 1 to 7, characterised in that a navigation system of a service vehicle is constructed in such a way that, when a wind energy installation is selected or approached, in particular when a distance to the wind energy installation falls below a threshold distance and / or when a time period until arrival at the wind energy installation falls below a threshold delay period, a service request is automatically sent from the navigation system or from a remote monitoring centre to the wind energy installation or to a remote monitoring centre, which service request can be recognised by the wind energy installation as an entrance condition (23b, 24b, 25b) or as a request for moving into an azimuth special position (9, 12, 13).
- A wind energy installation comprising a tower (2) as well as a nacelle (1) with a rotor (1a), which nacelle (1) is rotatably arranged on the tower (2), the wind energy installation further comprising a control unit with an azimuth control (21), characterised in that the control unit is constructed so as to carry out a method according to any one of claims 1 to 10.
- The wind energy installation according to claim 9, characterised in that the control unit has one or more status codes (23a, 24a, 25a) with which the occurrence of entrance conditions (23b, 24b, 25b) and / or exit conditions (23c, 24c, 25c) is monitored with regard to one or more state variables and / or operating variables, in particular wherein different priorities are provided for processing the azimuth special control programs (23, 24, 25) associated therewith, in particular for different status codes (23a, 24a, 25a).
- A computer program product with program code means, wherein, when they are being executed in a control unit of a wind energy installation constructed as a data processing system, a method of operating the wind energy installation according to any one of claims 1 to 8 is carried out.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011079344A DE102011079344A1 (en) | 2011-07-18 | 2011-07-18 | Method for operating a wind energy plant and wind energy plant |
Publications (4)
Publication Number | Publication Date |
---|---|
EP2549098A2 EP2549098A2 (en) | 2013-01-23 |
EP2549098A3 EP2549098A3 (en) | 2014-07-30 |
EP2549098B1 EP2549098B1 (en) | 2017-01-04 |
EP2549098B2 true EP2549098B2 (en) | 2023-04-05 |
Family
ID=46581766
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP12176256.1A Active EP2549098B2 (en) | 2011-07-18 | 2012-07-13 | Method for operating a wind turbine and wind turbine |
Country Status (4)
Country | Link |
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EP (1) | EP2549098B2 (en) |
DE (1) | DE102011079344A1 (en) |
DK (1) | DK2549098T4 (en) |
ES (1) | ES2620290T5 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DK2902623T3 (en) * | 2014-02-04 | 2020-07-20 | Ge Renewable Tech Wind Bv | PROCEDURES FOR OPERATING A WIND TURNER AND WIND TURNER |
EP3128170B1 (en) | 2015-08-06 | 2018-02-28 | Nordex Energy GmbH | Wind power facility with a yaw drive |
CN110318947B (en) * | 2018-03-30 | 2020-06-09 | 北京金风科创风电设备有限公司 | Yaw control method, equipment and system of wind generating set |
CN113915075A (en) * | 2021-09-23 | 2022-01-11 | 芜湖天航重工股份有限公司 | Safety detection device and method for wind power tower barrel |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19717059C1 (en) * | 1997-04-23 | 1998-07-09 | Aerodyn Eng Gmbh | Method for parking rotor blades of windmill when wind speed is high |
DE10058076C2 (en) * | 2000-11-23 | 2003-06-12 | Aloys Wobben | Method for controlling a wind energy plant |
DE102004024564B4 (en) * | 2004-05-18 | 2006-03-30 | Nordex Energy Gmbh | Method for controlling and regulating a wind energy plant and wind energy plant |
DE102006034251B8 (en) | 2006-07-21 | 2014-08-21 | Senvion Se | Method for operating a wind energy plant |
DE102007045437A1 (en) * | 2007-09-22 | 2009-04-02 | Nordex Energy Gmbh | Method for controlling a wind energy plant |
WO2009043352A2 (en) | 2007-10-05 | 2009-04-09 | Vestas Wind Systems A/S | A method for de-icing a blade of a wind turbine, a wind turbine and use thereof |
SE535202C2 (en) * | 2009-05-05 | 2012-05-22 | Xemc Xiangtan Electric Mfg Group Corp Lt | A method and control system for controlling an upstream wind turbine |
US7922449B2 (en) | 2009-07-14 | 2011-04-12 | General Electric Company | Passive deicing for wind turbine blades |
DE102010011549A1 (en) * | 2010-03-15 | 2011-09-15 | Repower Systems Ag | Maintenance azimuth angle |
-
2011
- 2011-07-18 DE DE102011079344A patent/DE102011079344A1/en not_active Ceased
-
2012
- 2012-07-13 DK DK12176256.1T patent/DK2549098T4/en active
- 2012-07-13 ES ES12176256T patent/ES2620290T5/en active Active
- 2012-07-13 EP EP12176256.1A patent/EP2549098B2/en active Active
Also Published As
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DK2549098T4 (en) | 2023-07-03 |
DK2549098T3 (en) | 2017-04-10 |
EP2549098A3 (en) | 2014-07-30 |
ES2620290T5 (en) | 2023-06-05 |
DE102011079344A1 (en) | 2013-01-24 |
ES2620290T3 (en) | 2017-06-28 |
EP2549098B1 (en) | 2017-01-04 |
EP2549098A2 (en) | 2013-01-23 |
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